Pioneer 2 User Manual
Page 3
Pioneer Mobile Robots
iii
Table of Contents
CONGRATULATIONS ......................................................................................................................... 1
P
IONEER
P
ACKAGE
................................................................................................................................ 1
Basic Components (all shipments) ..................................................................................................... 1
Optional Components and Attachments (partial list) .......................................................................... 1
User-Supplied Components / System Requirements............................................................................ 2
A
DDITIONAL
R
ESOURCES
....................................................................................................................... 2
Pioneer Software............................................................................................................................... 2
Pioneer Newsgroup........................................................................................................................... 2
Support............................................................................................................................................. 3
WHAT IS PIONEER?............................................................................................................................ 4
C
LIENT
S
OFTWARE
................................................................................................................................ 4
T
HE
P
IONEER
L
EGACY
........................................................................................................................... 5
M
ODES OF
O
PERATION
.......................................................................................................................... 6
SPECIFICATIONS & CONTROLS...................................................................................................... 8
P
HYSICAL
C
HARACTERISTICS
................................................................................................................. 8
M
AIN
C
OMPONENTS
.............................................................................................................................. 8
Console and Deck ............................................................................................................................. 9
Body ................................................................................................................................................. 9
Nose ............................................................................................................................................... 10
Accessory Panels ............................................................................................................................ 10
Sonar Arrays................................................................................................................................... 10
M
OTORS AND
P
OSITION
E
NCODERS
...................................................................................................... 10
S
ONARS
.............................................................................................................................................. 10
B
ATTERIES AND
P
OWER
....................................................................................................................... 11
E
LECTRONICS
...................................................................................................................................... 11
Power/Motor Board ........................................................................................................................ 12
Microcontroller .............................................................................................................................. 12
Sonar Boards .................................................................................................................................. 12
C
ONTROLS
, P
ORTS
,
AND
I
NDICATORS
................................................................................................... 12
Main Power, Fuse, and Indicator .................................................................................................... 12
Recharge/Power Port...................................................................................................................... 12
Liquid-Crystal Display.................................................................................................................... 13
Contrast.......................................................................................................................................... 13
SERIAL........................................................................................................................................... 15
RADIO ........................................................................................................................................... 15
FLASH............................................................................................................................................ 15
S
AFETY
W
ATCHDOGS AND
C
ONFIGURATION
......................................................................................... 15
QUICK START .................................................................................................................................... 16
P
REPARATIVE
A
SSEMBLY
.................................................................................................................... 16
Saphira Client Installation .............................................................................................................. 16
S
APHIRA
C
LIENT
S
TART
-U
P
................................................................................................................. 17
P
IONEER
C
OLD
S
TART
-U
P
.................................................................................................................... 17
RADIO ON ..................................................................................................................................... 17
S
TARTING
S
APHIRA
C
LIENT
/P
IONEER
S
ERVER
C
OMMUNICATIONS
......................................................... 17
A S
UCCESSFUL
C
ONNECTION
............................................................................................................... 18
O
PERATING THE
S
APHIRA
D
EMO
C
LIENT
.............................................................................................. 18
D
ISCONNECTING
S
ERIAL
C
OMMUNICATIONS
(
INTENTIONALLY OR UNINTENTIONALLY
) .......................... 20
Q
UICKSTART
T
ROUBLESHOOTING
........................................................................................................ 20